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/**
  ******************************************************************************
  * @file    gpio.c
  * @brief   This file provides code for the configuration
  *          of all used GPIO pins.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
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/* Includes ------------------------------------------------------------------*/
#include "gpio.h"

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/*----------------------------------------------------------------------------*/
/* Configure GPIO                                                             */
/*----------------------------------------------------------------------------*/
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/** Configure pins as
        * Analog
        * Input
        * Output
        * EVENT_OUT
        * EXTI
*/
void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOG_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, joint5_Pin|joint6_Pin|joint2_Pin|joint3_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, joint4_Pin|DIR6_Pin|DIR5_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(joint1_GPIO_Port, joint1_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, DIR1_Pin|DIR2_Pin|DIR3_Pin|DIR4_Pin
                          |LED1_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);

  /*Configure GPIO pins : joint5_Pin joint6_Pin joint2_Pin joint3_Pin */
  GPIO_InitStruct.Pin = joint5_Pin|joint6_Pin|joint2_Pin|joint3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : joint4_Pin */
  GPIO_InitStruct.Pin = joint4_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
  HAL_GPIO_Init(joint4_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : K1_Pin K2_Pin K3_Pin K4_Pin
                           K5_Pin PG14 */
  GPIO_InitStruct.Pin = K1_Pin|K2_Pin|K3_Pin|K4_Pin
                          |K5_Pin|GPIO_PIN_14;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

  /*Configure GPIO pin : joint1_Pin */
  GPIO_InitStruct.Pin = joint1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
  HAL_GPIO_Init(joint1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : K_hand_Pin K6_Pin */
  GPIO_InitStruct.Pin = K_hand_Pin|K6_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pins : DIR6_Pin DIR5_Pin */
  GPIO_InitStruct.Pin = DIR6_Pin|DIR5_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pins : DIR1_Pin DIR2_Pin DIR3_Pin DIR4_Pin
                           LED1_Pin */
  GPIO_InitStruct.Pin = DIR1_Pin|DIR2_Pin|DIR3_Pin|DIR4_Pin
                          |LED1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : LED2_Pin */
  GPIO_InitStruct.Pin = LED2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);

}

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